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EP 4 281 939 A1

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(43) Date of publication: 29.11.2023 Bulletin 2023/48 (21) Application number: 21700936.4 (22) Date of filing: 19.01.2021

(51) International Patent Classification (IPC):  G06T 19/00(2011.01) B25J 9/00(2006.01) B25J 5/00(2006.01) B25J 11/00(2006.01) (52) Cooperative Patent Classification (CPC): G06F 3/011; B25J 5/00; G06T 19/006; G06V 20/20; B25J 19/023; B25J 9/0084 (86) International application number: PCT/EP2021/051035 (87) International publication number: WO 2022/156878 (28.07.2022 Gazette 2022/30)

(84) Designated Contracting States: AL AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HR HU IE IS IT LI LT LU LV MC MK MT NL NO PL PT RO RS SE SI SK SM TR Designated Extension States: BA ME Designated Validation States: KH MA MD TN (71) Applicant: ABB SCHWEIZ AG 5400 Baden (CH)	(72) Inventors: LE, Duy Khanh 722 22 Västerås (SE) AZHAR, Saad 724 77 Västerås (SE) (74) Representative: Kransell & Wennborg KB  P.O. Box 27834 115 93 Stockholm 115 93 Stockholm (SE)